include "map_builder.lua"
include "trajectory_builder.lua"

options = {
    map_builder = MAP_BUILDER,
    trajectory_builder = TRAJECTORY_BUILDER,
    map_frame = "map",
    tracking_frame = "base_link",
    published_frame = "odom",
    odom_frame = "odom",
    provide_odom_frame = false,
    publish_frame_projected_to_2d = true,
    use_odometry = true,
    use_nav_sat = false,
    use_landmarks = false,
    num_laser_scans = 1,
    num_multi_echo_laser_scans = 0,
    num_subdivisions_per_laser_scan = 1,
    num_point_clouds = 0,
    lookup_transform_timeout_sec = 0.2,
    submap_publish_period_sec = 0.3,
    pose_publish_period_sec = 5e-3,
    publish_tracked_pose = true,
    trajectory_publish_period_sec = 30e-3,
    rangefinder_sampling_ratio = 1.,
    odometry_sampling_ratio = 1.,
    fixed_frame_pose_sampling_ratio = 1.,
    imu_sampling_ratio = 1.,
    landmarks_sampling_ratio = 1.
}

-- 性能参数
MAP_BUILDER.use_trajectory_builder_2d = true
MAP_BUILDER.num_background_threads = 4

-- 局部匹配参数
TRAJECTORY_BUILDER_2D.submaps.num_range_data = 80
TRAJECTORY_BUILDER_2D.min_range = 0.15
TRAJECTORY_BUILDER_2D.max_range = 50.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 1 -- 1
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 10 -- 10
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 40 -- 40
TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.hit_probability = 0.55 -- 0.55
TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.miss_probability = 0.49 -- 0.49
-- TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.03 -- 0.05

-- 全局优化参数
POSE_GRAPH.optimize_every_n_nodes = 15
POSE_GRAPH.global_sampling_ratio = 0.001
POSE_GRAPH.constraint_builder.sampling_ratio = 0.2
POSE_GRAPH.constraint_builder.min_score = 0.75
POSE_GRAPH.global_constraint_search_after_n_seconds = 30
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimization_problem.local_slam_pose_translation_weight = 1e5
POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight = 1e3
POSE_GRAPH.optimization_problem.odometry_translation_weight = 1e5
POSE_GRAPH.optimization_problem.odometry_rotation_weight = 1e5

return options
